TY - GEN
T1 - The ground motion dynamics analysis of a bionic amphibious robot with undulatory fins
AU - Zeng, Yangbin
AU - Hu, Qiao
AU - Yin, Shenglin
AU - Tong, Baocheng
AU - Zhang, Tangjia
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/15
Y1 - 2021/7/15
N2 - At present, bionic undulatory fin robots, as a kind of novel robot, are seldom studied on the ground motion of undulatory fins. This paper imitates the undulatory fin of the Gymnarchus niloticus and discusses the kinematics and dynamics of the undulatory fin of the amphibious robot under the ground motion. The ruled surface model in differential geometry is used to model the kinematics of the undulatory fin, and then the ground propulsion and speed of the undulatory fin are analyzed based on the wheel dynamics theory. This paper discusses the influence of the motion parameters of the undulatory fin on its propulsion performance and verifies the correctness of the undulatory fin structure and theoretical through experiments, and provides a reference for the development of the propulsion mechanism of the bionic amphibious with undulatory fins robot in the future.
AB - At present, bionic undulatory fin robots, as a kind of novel robot, are seldom studied on the ground motion of undulatory fins. This paper imitates the undulatory fin of the Gymnarchus niloticus and discusses the kinematics and dynamics of the undulatory fin of the amphibious robot under the ground motion. The ruled surface model in differential geometry is used to model the kinematics of the undulatory fin, and then the ground propulsion and speed of the undulatory fin are analyzed based on the wheel dynamics theory. This paper discusses the influence of the motion parameters of the undulatory fin on its propulsion performance and verifies the correctness of the undulatory fin structure and theoretical through experiments, and provides a reference for the development of the propulsion mechanism of the bionic amphibious with undulatory fins robot in the future.
UR - https://www.scopus.com/pages/publications/85115407518
U2 - 10.1109/RCAR52367.2021.9517681
DO - 10.1109/RCAR52367.2021.9517681
M3 - 会议稿件
AN - SCOPUS:85115407518
T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
SP - 1385
EP - 1390
BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
Y2 - 15 July 2021 through 19 July 2021
ER -